/*
 * Path.h
 *
 *  Created on: Oct 24, 2010
 *      Author: sanjeev
 */
#include <constants.h>
#include <fnavfn/Path.h>

#ifndef PATH_H_
#define PATH_H_

class PathSrv {
	bool printed;
public:
	int w, h;
	double grain, goalx, goaly;
	VECTOR pathx, pathy;
	MATRIX gdist, obs;

	PathSrv();
	void initialize(fnavfn::Path::Request &req);
	double getObstacleCostAt(int x,int y);
	virtual ~PathSrv();
};

#endif /* PATH_H_ */
